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Make IMU, GPS, pinger and ball shooter joints fixed #867

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Make IMU, GPS, pinger and ball shooter joints fixed #867

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8 changes: 2 additions & 6 deletions vrx_urdf/wamv_gazebo/urdf/components/ball_shooter.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -47,16 +47,12 @@
</inertial>
</link>

<joint name="${namespace}/${name}_base_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
<joint name="${namespace}/${name}_base_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="0 0 ${yaw}"/>
<parent link="${namespace}/base_link"/>
<child link="${namespace}/${name}_base_link"/>
</joint>
<joint name="${namespace}/${name}_launcher_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
<joint name="${namespace}/${name}_launcher_joint" type="fixed">
<origin xyz="-0.0204 0 0.107877" rpy="0 ${pitch} 0"/>
<parent link="${namespace}/${name}_base_link"/>
<child link="${namespace}/${name}_launcher_link"/>
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6 changes: 1 addition & 5 deletions vrx_urdf/wamv_gazebo/urdf/components/wamv_gps.xacro
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Expand Up @@ -26,9 +26,7 @@
iyy="0.006458" iyz="0.0" izz="0.01125"/>
</inertial>
</link>
<joint name="${namespace}/${name}_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
<joint name="${namespace}/${name}_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="${R} ${P} ${Y}" />
<parent link="${namespace}/base_link" />
<child link="${namespace}/${name}_link" />
Expand All @@ -44,5 +42,3 @@
</gazebo>
</xacro:macro>
</robot>


4 changes: 1 addition & 3 deletions vrx_urdf/wamv_gazebo/urdf/components/wamv_imu.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,7 @@
<inertia ixx="0.00000542" ixy="0.0" ixz="0.0" iyy="0.00002104" iyz="0.0" izz="0.00002604"/>
</inertial>
</link>
<joint name="${namespace}/${name}_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
<joint name="${namespace}/${name}_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="${R} ${P} ${Y}"/>
<parent link="${namespace}/base_link"/>
<child link="${namespace}/${name}_link"/>
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4 changes: 1 addition & 3 deletions vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -13,9 +13,7 @@
<inertia ixx="0.00000542" ixy="0.0" ixz="0.0" iyy="0.00002104" iyz="0.0" izz="0.00002604"/>
</inertial>
</link>
<joint name="${namespace}/${sensor_name}_pinger_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
<joint name="${namespace}/${sensor_name}_pinger_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${namespace}/base_link"/>
<child link="${namespace}/${sensor_name}"/>
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